Mooring system and processes for using same

ABSTRACT

A mooring system for mooring a vessel floating on a surface of a body of water. In some embodiments, the system can include a base structure configured to be secured to a seabed, a yoke configured to be pivotably connected at a first end to the base structure about an axis of the base structure, a weight connected to the yoke, a turntable that can include a rotating part configured to be disposed on the vessel and a fixed part, a link arm that can include a first end configured to be connected to a second end of the yoke and/or the weight and a second end configured to be connected to the fixed part of the turntable such that the vessel is rotatable with respect to the link arm about a central axis of the turntable.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to U.S. Provisional Patent ApplicationNo. 63/309,412, filed on Feb. 11, 2022, which is incorporated byreference herein.

FIELD

Embodiments described generally relate to mooring systems and processesfor using same. More particularly, such embodiments relate to a mooringsystems for mooring a vessel floating on a surface of a body of waterand processes for using same.

BACKGROUND

In the offshore oil and gas industry, mooring systems have been used formany years to moor a vessel on a surface of a body of water. Inrelatively shallow waters, for example less than 50 meters of water,traditional chain mooring systems are ineffective and typically yokemooring systems are employed. The yoke mooring system can include a yokethat is above the surface of the water or below the surface of thewater.

Mooring systems that include a yoke located below the surface of thewater include complex mechanical systems located beneath the surface ofthe water to permit rotation of the vessel about a vertical axis withrespect to a component of the mooring system. Locating these mechanicalsystems below the surface of the water is complex and expensive from adesign, manufacturing and operating perspective.

There is a need, therefore, for improved mooring systems and processesfor using same.

SUMMARY

Mooring systems and process for using same are provided. In someembodiments, the mooring system can include a base structure, a yoke, aweight, a turntable, and a link arm. The base structure can beconfigured to be secured to a seabed. The yoke can include a first endand a second end. The first end of the yoke can be configured to beconnected to the base structure such that the yoke can be pivotableabout an axis of the base structure. The weight can be connected to theyoke. The turntable can include a rotating part and a fixed part. Therotating part can be configured to be disposed on the vessel. The linkarm can have a first end and a second end. The first end of the link armcan be configured to be connected to the second end of the yoke, theweight, or both the second end of the yoke and the weight. The secondend of the link arm can be configured to be connected to the fixed partof the turntable such that the vessel can be rotatable with respect tothe link arm about a central axis of the turntable.

In some embodiments, a process for mooring a vessel floating on asurface of a body water to a mooring system can include positioning thevessel near the mooring system. The mooring system can include a basestructure, a yoke, a weight, a turntable, a link arm, a releasableconnector, a lifting device, and a lifting line. The base structure canbe secured to a seabed. The yoke can include a first end and a secondend. The first end of the yoke can be connected to the base structuresuch that the yoke is pivotable about an axis of the base structure. Theweight can be connected to the yoke. The turntable can include arotating part and a fixed part. The rotating part can be disposed on thevessel. The link arm can include a first end and a second end. The firstend of the link arm can be connected to the second end of the yoke, theweight, or both the second end of the yoke and the weight. Thereleasable connector can include a first component connected to thefixed part of the turntable and a second component connected to thesecond end of the link arm. The lifting device can be disposed on thevessel. The lifting line can include a first end connected to the secondcomponent of the connector. The process can also include connecting asecond end of the lifting line to the lifting device. The process canalso include hauling in the lifting line with the lifting device to liftthe link arm, the yoke, and the weight to move the second component ofthe releasable connector into an engagement position with respect to thefirst component of the releasable connector. The process can alsoinclude connecting the first component of the releasable connector tothe second component of the releasable connector to secure the vessel tothe mooring system.

In some embodiments, a process for unmooring a vessel floating on asurface of a body of water from a mooring system can includedisconnecting a first component from a second component of a releasableconnector. The mooring system can include a base structure, a yoke, aweight, a turntable, a link arm, the releasable connector a liftingdevice, and a lifting line. The base structure can be secured to aseabed. The yoke can include a first end and a second end. The first endof the yoke can be connected to the base structure such that the yokecan be pivotable about an axis of the base structure. The weight can beconnected to the yoke. The turntable can include a rotating part and afixed part. The rotating part can be disposed on the vessel. The linkarm can include a first end and a second end. The first end of the linkarm can be connected to the second end of the yoke, the weight, or boththe second end of the yoke and the weight. The first component of thereleasable connector can be connected to the fixed part of the turntableand the second component of the releasable connector can be connected tothe second end of the link arm. The lifting device can be disposed onthe vessel. The lifting line can include a first end connected to thesecond component of the connector and a second end connected to thelifting device. The process can also include lowering the link arm, theyoke, and the weight toward the seabed with the lifting line and thelifting device. The process can also include disconnecting the secondend of the lifting line from the lifting device. The process can alsoinclude maneuvering the vessel away from the mooring system.

BRIEF DESCRIPTION OF THE DRAWINGS

The various aspects and advantages of the preferred embodiment of thepresent invention will become apparent to those skilled in the art uponan understanding of the following detailed description of the invention,read in light of the accompanying drawings which are made a part of thisspecification.

FIGS. 1 and 2 depict isometric views of an illustrative mooring systemfor mooring a vessel floating on a surface of a body of water, accordingto one or more embodiments described.

FIG. 3 depicts a close-up isometric view of an illustrative link armdepicted in FIGS. 1 and 2 that includes a dual axis joint disposed ateach end thereof, according to one or more embodiments described.

FIG. 4 depicts a partial cutaway elevation view of an illustrativeturntable and an illustrative swivel disposed on a vessel, according toone or more embodiments described.

FIG. 5 depicts an isometric view of an illustrative yoke hinge andthrust bearing connected to a base structure, according to one or moreembodiments described.

FIG. 6 depicts a side elevation view of an illustrative turntabledisposed on a vessel that includes a link arm connected thereto and anillustrative lifting device, according to one or more embodimentsdescribed.

FIG. 7 depicts a side elevation view of an illustrative turntabledisposed on a vessel, an illustrative releasable connector in a releasedconfiguration, and an illustrative lifting device, according to one ormore embodiments described.

FIG. 8 depicts an isometric view of an illustrative mooring system thatincludes a buoyancy module disposed on a weight, according to one ormore embodiments described.

FIG. 9 depicts an isometric view of an illustrative mooring system thatincludes a conduit assembly disposed on the mooring system, according toone or more embodiments described.

FIG. 10A depicts an isometric view of an illustrative mooring system ina disconnected configuration that includes a yoke and a weight laid downon a seabed and a link arm laid down and supported in a cradle disposedon the yoke, according to one or more embodiments described.

FIG. 10B depicts a partial cross-sectional view of the mooring systemdepicted in FIG. 10A.

FIGS. 11-16 depict an illustrative process for mooring a vessel floatingon a surface of a body of water to an illustrative mooring system,according to one or more embodiments described.

FIGS. 17-22 depict an illustrative process for unmooring a vesselfloating on a surface of a body of water from an illustrative mooringsystem, according to one or more embodiments described.

FIGS. 23-25 depict an illustrative mooring system in a disconnectedconfiguration that includes a yoke and a weight laid down on a seabedand a link arm laid down and supported by a contact frame, according toone or more embodiments described.

FIG. 26 depicts an isometric view of an illustrative mooring system thatincludes at least one conduit disposed on the mooring system, accordingto one or more embodiments described.

DETAILED DESCRIPTION

A detailed description will now be provided. Each of the appended claimsdefines a separate invention, which for infringement purposes isrecognized as including equivalents to the various elements orlimitations specified in the claims. Depending on the context, allreferences to the “invention”, in some cases, refer to certain specificor preferred embodiments only. In other cases, references to the“invention” refer to subject matter recited in one or more, but notnecessarily all, of the claims. It is to be understood that thefollowing disclosure describes several exemplary embodiments forimplementing different features, structures, or functions of theinvention. Exemplary embodiments of components, arrangements, andconfigurations are described below to simplify the present disclosure;however, these exemplary embodiments are provided merely as examples andare not intended to limit the scope of the invention. Additionally, thepresent disclosure may repeat reference numerals and/or letters in thevarious exemplary embodiments and across the Figures provided herein.This repetition is for the purpose of simplicity and clarity and doesnot in itself dictate a relationship between the various exemplaryembodiments and/or configurations discussed in the Figures. Moreover,the formation of a first feature over or on a second feature in thedescription that follows includes embodiments in which the first andsecond features are formed in direct contact and also includesembodiments in which additional features are formed interposing thefirst and second features, such that the first and second features arenot in direct contact. The exemplary embodiments presented below may becombined in any combination of ways, i.e., any element from oneexemplary embodiment may be used in any other exemplary embodiment,without departing from the scope of the disclosure. The figures are notnecessarily drawn to scale and certain features and certain views of thefigures can be shown exaggerated in scale or in schematic for clarityand/or conciseness.

Additionally, certain terms are used throughout the followingdescription and claims to refer to particular components. As one skilledin the art will appreciate, various entities may refer to the samecomponent by different names, and as such, the naming convention for theelements described herein is not intended to limit the scope of theinvention, unless otherwise specifically defined herein. Also, thenaming convention used herein is not intended to distinguish betweencomponents that differ in name but not function. Furthermore, in thefollowing discussion and in the claims, the terms “include”,“including”, “comprise”, and “comprising” are used in an open-endedfashion, and thus should be interpreted to mean “including, but notlimited to.” Also, as used herein the indefinite articles ‘a’ and ‘an’should be interpreted to mean “at least one” or “one or more.”

Further, the term “or” is intended to encompass both exclusive andinclusive cases, i.e., “A or B” is intended to be synonymous with “atleast one of A and B,” unless otherwise expressly specified herein. Theindefinite articles “a” and “an” refer to both singular forms (i.e.,“one”) and plural referents (i.e., one or more) unless the contextclearly dictates otherwise. The terms “up” and “down”; “upward” and“downward”; “upper” and “lower”; “upwardly” and “downwardly”; “above”and “below”; and other like terms used herein refer to relativepositions to one another and are not intended to denote a particularspatial orientation since the apparatus and processes of using the samemay be equally effective at various angles or orientations.

The terms “orthogonal” and “orthogonally”, as used herein, refer to twolines or vectors that are not coplanar, i.e., skew lines, and,therefore, do not intersect but can appear to be perpendicular whenviewed from a particular angle. Said another way, two skew lines orvectors can be said to be “orthogonal” if they form a 90 degreeprojected angle. For example, in a three dimensional cartesiancoordinate system, a line parallel to the X-axis with a constant Z-valueof 1 is orthogonal to a line parallel to the Y-axis with a constantZ-value of 2 because these lines will not intersect and the lines areorientated at 90 degrees with respect to one another when viewed alongthe Z-axis. As yet another example of a first line being orthogonal to asecond line, the first line can lie in a first plane and the second linecan lie in a second plane, where the first and second planes areparallel with respect to one another and the first line and the secondline are oriented at 90 degrees with respect to one another when viewedalong an axis that is normal to the first and second planes. Further,the term “substantially” when used in the context of “substantiallyorthogonal” means the first and second lines are orientated at angles ofabout 80 degrees, about 83 degrees, about 85 degrees, about 87 degrees,or about 89 degrees to, about 91 degrees, about 93 degrees, about 95degrees, about 97 degrees, or about 100 degrees with respect to oneanother when viewed along an axis that is normal to the first and secondplanes.

The terms “perpendicular” and “perpendicularly”, as used herein, referto two lines or vectors that are coplanar and, therefore, do intersectone another at a 90 degree angle. Further, the term “substantially” whenused in the context of “substantially perpendicular” means a first lineand a second line are orientated at angles of about 80 degrees, about 83degrees, about 85 degrees, about 87 degrees, or about 89 degrees to,about 91 degrees, about 93 degrees, about 95 degrees, about 97 degrees,or about 100 degrees with respect to one another. Further, the term“substantially” when used in the context of “substantially parallel”means an axis and a plane (e.g., the surface of a body of water) areorientated at angles of about 160 degrees, about 165 degrees, about 170degrees, about 175 degrees, or about 180, or about 185 degrees, or about190 degrees, or about 195 degrees, or about 200 degrees with respect toone another.

The term “vessel” refers to any type of floating structure including butnot limited to tankers, boats, ships, FSOs, FPSOs, FLNGs, FSRUs, and thelike.

FIGS. 1 and 2 depict isometric views of an illustrative mooring system100 for mooring a vessel V floating on a surface of a body of water W,according to one more embodiments. In some embodiments, the mooringsystem 100 can include a base structure 110 configured to be fixed to aseabed S. In some embodiments, the base structure 110 can be secured tothe seabed by one or more driven piles (two are shown, 111, 112). Inother embodiments, the base structure 110 can be secured to the seabed Svia one or more suction piles, one or more gravity anchors, one or moredriven piles 111, 112, or a combination thereof. The particularapparatus used to secure the base structure 110 to the seabed S can bebased, at least in part, on the seabed conditions at the site and theanticipated loads that will be directed to the base structure 110. Insome embodiments, the base structure 110 can be a fabricated structure,e.g., a steel structure, a concrete structure, or a combination thereof.In some embodiments, the driven piles 111, 112 can be rolled tubularmembers, pipes, or other similar pile material(s).

In some embodiments, the mooring system 100 can include a yoke 120 thatcan include a first end 121 and a second end 122. In some embodiments,the first end 121 of the yoke can be configured to connect to the basestructure 110 such that the yoke 120 can pivot about an axis 160 of thebase structure 110. In some embodiments, the axis 160 of the basestructure 110 can be substantially parallel with the seabed S. In otherembodiments, the axis 160 of the base structure 110 can be substantiallyparallel with a surface of the body of water W during a calm state. Insome embodiments the yoke 120 can be a fabricated structure, e.g., asteel structure. In some embodiments, the yoke 120 can have alongitudinal axis 170 that can extend from a midpoint at the first end121 of the yoke 120 to a midpoint at the second end 122 of the yoke 120,as shown in FIG. 2 . In some embodiments, the longitudinal axis 170 canbe a longitudinal line of symmetry of the yoke. In some embodiments, thelongitudinal axis 170 can be substantially orthogonal or substantiallyperpendicular to the axis 160 of the base structure 110. In someembodiments, the axis 160 of the base structure 110 can be substantiallyorthogonal or substantially perpendicular to the longitudinal axis 170of the yoke 120 and substantially parallel with the seabed S and/orsubstantially parallel with the surface of the body of water W during acalm state.

In some embodiments, the connection between the yoke 120 and the basestructure 110 can include at least one yoke hinge (two are shown, 124,125). The yoke hinges 124, 125 can permit the yoke 120 to pivot withrespect to the base structure 110 about the axis 160 of the basestructure 110.

In some embodiments, the mooring system 100 can include a weight 130that can be connected to the yoke 120 toward the second end 122 of theyoke 120. In some embodiments, the weight 130 can have a specificgravity greater than the specific gravity of the body of water. In someembodiments, the weight 130 can be a ballast tank. The ballast tank canbe configured to contain a ballast material. The ballast material can beany suitable solid material or liquid material or combination thereof.Examples of ballast material can be or can include, but are not limitedto, concrete, sand, aggregate, iron ore, magnetite, rocks, drilling mud,water, sea water, any other material or combination thereof. In someembodiments the weight 130 can be a fabricated structure, e.g., a steelstructure. In some embodiments, not shown, the weight 130 can include asolid mass, or a structure, such as a frame that can receive one or moreweights, for example metallic and/or concrete blocks.

In some embodiments, the mooring system 100 can include a turntable 140that can have a fixed part 141 and a rotating part 142. The rotatingpart 142 of the turntable 140 can be disposed on the vessel V. Theturntable 140 can provide for unlimited rotation of the vessel Vrelative to the fixed part 141 of the turntable 140 about a central axis180. The turntable 140 can be configured to transfer loads from thefixed part 141 to the rotating part 142 of the turntable 140 or from therotating part 142 to the fixed part 141 of the turntable 140 while thevessel V rotates about the central axis 180. In some embodiments theturntable 140 can be a fabricated structure, e.g., a steel structure.

In some embodiments, the mooring system 100 can include a link arm 150that can include a first end 151 configured to be connected to thesecond end of the yoke 120 and/or the weight 130 and a second end 152that can be configured to be connected to the fixed part 141 of theturntable 140. In some embodiments, the link arm 150 can be configuredas an elongated rigid or semi rigid structure that can include a dualaxis or universal joint 153, 154 (see FIG. 3 ) disposed at each of thefirst end 151 and the second end 152 of the link arm 150, respectively.In other embodiments, the link arm 150 can be configured as a flexibletension member, for example a tether, a chain, a rope, a wire rope, or acombination thereof. In some embodiments, the dual axis joints 153, 154can provide for rotation about two axes of rotation that aresubstantially orthogonal to one another. In this way, the link arm 150can rotate or pivot relative to the fixed part 141 of the turntable 140about two axes of rotation and similarly the link arm 150 can rotate orpivot relative to the yoke 120 and/or the weight 130 about two axes ofrotation.

In some embodiments, the mooring system 100 can include at least oneconduit 190, three are shown. In some embodiments, the conduit(s) 190can be a fluid conduit, an electrical conduit, an optical fiber conduit,or a combination thereof. It should be understood that any of theconduits described herein can be a fluid conduit, an electrical conduit,an optical conduit, or a combination thereof. In some embodiments, theconduit(s) 190 can be fluid conduits configured to convey a fluid from acorresponding pipeline 199 disposed on the seabed S to the fixed part141 of the turntable 140 and/or to convey a fluid from the fixed part141 of the turntable 140 to the corresponding pipeline 199 disposed onthe seabed S. Examples of the conveyed fluids can be or can include, butare not limited to natural gas, oil, water, diesel, gasoline, liquidpetroleum gas, liquified natural gas, ammonia, crude oil, or any otherfluid. In other embodiments, two or more of the conduits 190 can beconfigured to convey the fluid to or from a single pipeline 199 disposedon the seabed S. In some embodiments, the conduit(s) 190 can beconfigured to convey an electrical signal, electrical power, opticalsignals, or a combination thereof. In some embodiments, the conduit(s)190 can be configured to convey a combination of electrical, fluid,and/or optical signals.

In some embodiments, the fluid conduit(s) 190 can include one or morerigid pipe segments 191, 192, 193 mounted on, affixed to, or otherwisesupported on or by the base structure 110, the yoke 120, the weight 130,and/or the link arm 150. In some embodiments, the fluid conduit(s) 190can include one or more flexible pipe or hose segments 194, 195, 196that bridge between the base structure 110 and the yoke 120, and/orbetween the yoke 120 and/or weight 130 and the link arm 150, and/orbetween the link arm 150 and the fixed part 141 of the turntable 140such that the fluid can be conveyed from the fixed part 141 of theturntable 140 to the pipeline 199 disposed on the seabed S or viceversa, while the yoke 120 pivots relative to the base structure 110and/or while the link arm 150 pivots relative to the yoke 120 and/orweight 130 and/or the link arm 150 pivots relative to the fixed part 141of the turntable 140.

FIG. 3 depicts a close-up isometric view of the link arm 150 depicted inFIGS. 1 and 2 that includes the dual axis joints 153, 154 disposed ateach end of the link arm 150, according to one or more embodiments. Inother embodiments, not shown, the link arm 150 can be configured as anelongated member that can include ball and socket joints or flexiblejoints that can include a plurality of steel and rubber spherical layerslaminated together to provide rotational articulation about twonon-parallel axes disposed at each end thereof, or as chains or aplurality of parallel chains with a padeye or tri-plate disposed at eachend thereof. An illustrative commercially available flex joint caninclude the FLEXJOINT® available from Oil States Industries.

In some embodiments, the mooring system 100 can be configured such thatyoke 120 and the weight 130 are located below the surface of the body ofwater as shown in FIGS. 1 and 2 . In other embodiments, not shown, themooring system 100 can be configured such that at least a portion of theyoke 120, and/or at least a portion of the weight 130, and/or at least aportion of the base structure 110 can be located above the surface ofthe body of water.

FIG. 4 depicts a partial cutaway elevation view of an illustrativeturntable 140 and an illustrative swivel 420, according to one or moreembodiments. As described above, the turntable 140 can include the fixedpart 141 and the rotating part 142. The turntable 140 can transfer loadsfrom the vessel V to the link arm 150 and from the link arm 150 to thevessel V while allowing the vessel V to rotate about the central axis180. The turntable 140 can include a bearing 430 that can connect thefixed part 141 of the turntable 140 to the rotating part 142 of theturntable 140. The bearing 430 can be any suitable mechanical bearing,e.g., a 3-row roller bearing, a wheel and rail type bearing, or abushing type bearing system. The fixed part 421 of the swivel 420 can bedisposed on or connected to the fixed part 141 of the turntable 140 andthe rotating part 422 of the swivel 420 can be disposed on or connectedto the rotating part 142 of the turntable 140. The swivel 420 can beconfigured to maintain communication between a conduit disposed on thefixed part 141 of the turntable 140 and a conduit disposed on therotating part 142 of the turntable 140 while the vessel V rotates aboutthe central axis 180. In some embodiments the swivel 420 can beconfigured as a fluid swivel. In other embodiments the swivel 420 can beconfigured as an electrical swivel or electrical slip ring, or as afiber optic swivel. In other embodiments, the swivel 420 can beconfigured as a combined fluid and/or electrical swivel or electricalslip ring and/or fiber optic swivel. The fixed part 141 and the rotatingpart 142 of the swivel 420 can be configured to maintain fluidcommunication, electrical communication, and/or optical communicationtherebetween, depending on the particular configuration of the swivel420.

FIG. 5 depicts an isometric view of an illustrative yoke hinge 501 andthrust bearing 505, according to one or more embodiments. In someembodiments, the mooring system 100 can include a plurality of yokehinges 501 and a plurality of thrust bearings 505. The yoke hinge 501can be configured to allow the yoke 120 to pivot about the axis 160 ofthe base structure 110. The yoke hinge 501 can include a first part 502disposed on the base structure 510, a second part 503 disposed on theyoke structure 520, and a pin 504 that can connect the first part 502 tothe second part 503. The first part 502 and the second part 503 of theyoke hinge 501 can each define a cylindrical bore having a central axis.The central axis of the cylindrical bores defined by the first part 502and the second part 503 can be axially aligned such that the pin 504 canbe disposed through the axially aligned bores of the first part 502 andthe second part 503. A central axis of the pin 504 can be colinear withthe central axis of the cylindrical bores defined by the first part 502and the second part 503, and the axis 160 of the base structure 110. Theyoke hinge 501 can be manufactured from steel. In some embodiments, theyoke hinge 501 can be a fabricated structure, a forged structure, amilled structure, or a cast structure.

The thrust bearing 505 can be configured to transfer a shear load fromthe yoke 120 to the base structure 110 and/or from the base structure110 to the yoke 120 in a direction that is substantially parallel to theaxis 160 of the base structure 110. In some embodiments, the thrustbearing 505 can have a longitudinal axis that is colinear with the axis160 of the base structure 110. In some embodiments, the thrust bearingcan include a first part 506 disposed on the base structure 510 and asecond part 507 disposed on the yoke 120. In some embodiments the thrustbearing 505 can include a bushing 508 disposed between the first part506 and the second part 507 of the thrust bearing 505. In someembodiments, the first part 506 of the thrust bearing 505, the secondpart 507 of the thrust bearing 505, and the bushing 508 can include asurface, e.g., a flat surface, that can be configured to matingly engagewith one another to transfer a shear load from the yoke 120 to the basestructure 110 and/or from the base structure 110 to the yoke 120. Thethrust bearing 505 can be manufactured from steel. For example, thethrust bearing 505 can be a fabricated structure, a forged structure, amilled structure, or a cast structure. The bushing 508 can bemanufactured from brass, a polymer, a fiber reinforced compositematerial, or any other suitable material or combination of materials.

FIG. 6 depicts a side elevation view of the illustrative turntable 140disposed on the vessel V that includes the link arm 150 connectedthereto, according to one or more embodiments. FIG. 7 depicts a sideelevation view of the illustrative turntable 140 disposed on the vesselV, a lifting device 611, and a lifting line 612 according to one or moreembodiments. Referring to FIGS. 6 and 7 , in some embodiments, thelifting device 611 can be disposed on the vessel V near or above thefixed part 141 of the turntable 140. The lifting device 611 can be orcan include, but is not limited to, a chain jack, a strand jack, alinear winch, a rotary winch, other similar device(s), or anycombination of such devices. The lifting device 611 can be electricallydriven, hydraulically driven, pneumatically driven, diesel driven, or acombination thereof.

A releasable connector 620 can be used to connect the second end 152 ofthe link arm 150 to the fixed part 141 of the turntable 140. Thereleasable connector 620 can include a first component 622 disposed onthe second end 152 of the link arm 150 and a second component 621disposed on the fixed part 641 of the turntable 640. In someembodiments, the first component 622 of the connector 620 can beconfigured as a stinger and can be connected to the second end 152 ofthe link arm 150. The second component 621 of the connector 620 caninclude a sleeve assembly connected to or mounted on the fixed part 141of the turntable 140. In some embodiments, the releasable connector 620can include a latching mechanism that can be moved from an unlockedposition to a locked position to secure the first component 622 withinthe second component 621. In some embodiments, the releasable connector620 that can include the first component 622 and the second component621 can include the releasable connector disclosed in U.S. PatentApplication Nos. 63/255,749 and 17/966,184.

The lifting line 612 can include a first end 613 configured to beconnected to the first component 622 of the connector 620 (as shown inFIG. 7 ) or the second end 152 of the link arm 150 (not shown). Themooring system 100 can also include an optional retrieval line, notshown, that can be connected to a second end (not shown) of the liftingline 612. The retrieval line can be configured such that at least aportion of the retrieval line can float on the surface of the body ofwater to facilitate retrieval of the lifting line. In some embodiments,a buoy can be disposed at a second end of the retrieval line to maintainthe second end of the retrieval line on the surface of the body ofwater. In such embodiment, the retrieval line can be retrieved from thesurface of the body of water and routed to the lifting device 611. Thelifting device 611 be used to haul in the lifting line until the secondend of the lifting line 612 is adjacent or proximate to the liftingdevice 611. The lifting line 612 can then be engaged with the liftingdevice 611 and the lifting device 611 can be used to lift the link arm150, the weight 130, and the yoke 120 until the first component 622 ofthe releasable connector 620 can be connected to the second component621 of the releasable connector 620 for connection of the mooring system100 to the vessel V.

The lifting device 611 can be configured to lift the link arm 150 alongwith the yoke 120 and the weight 130 from a position where the yoke 120and the weight 130 are resting on the seabed or an optional landingstructure, e.g., a mud mat, located on the seabed to a position at whichthe yoke 120, the weight 130, and the link arm 150 can be suspended fromthe vessel V. The lifting device 611 can also be configured to lower thelink arm 150 along with the yoke 120 and the weight 130 from thesuspended position to a position where the yoke 120, the weight 130, andthe link arm 150, are resting on the seabed or resting on the optionallanding structure, not shown.

In some embodiments the lifting device 611 can be configured such that aspeed at which the lifting device 611 operates to haul in the liftingline 612 can be tuned, adjusted, or otherwise correlated to account fora motion of the vessel that can be caused by vessel heave, wind, waves,swell, and/or current present at a given mooring location. Said anotherway, the lifting device 611 can be configured to lift and lower the linkarm 150, the weight 130, and the yoke 120 at a speed that is at leastpartially dependent on a motion of the vessel V. In some embodiments,the lifting device 610 can be configured such that a speed at which thelifting device 610 operates to haul in the lifting line 612 is nottuned, adjusted, or otherwise correlated to account for a motion of thevessel V. Said another way, the lifting device 611 can be configured tolift and lower the link arm 150, the weight 130 and the yoke 120 at aspeed that is independent from a motion of the vessel V.

FIG. 8 depicts an isometric view of an illustrative mooring system 800that includes at least one buoyancy module 890, two are shown, disposedon the weight 130, according to one or more embodiments. In someembodiments, the mooring system 800 can be configured such that the basestructure 110, the yoke 120, and the weight 130 are submerged. In someembodiments, the mooring system 800 and include at least one buoyancymodule 890 that can be disposed toward the second end 122 of the yoke120 or on or near the weight 130. In some embodiments, the mooringsystem 800 can include, one, two, three, four, or more buoyancy modules890, two are shown. The buoyancy module(s) 890 can be configured to adda buoyant force to the yoke 120 and/or the weight 130 that can be 10%,20%, or 50% to 75%, 80%, or even 100% of the weight of the yoke and/orweight. By adding a buoyant force to the yoke 120 and/or weight 130, thecorresponding size and cost of the lifting devices disposed on thevessel V (not shown) and used to raise and lower the yoke 120, the linkarm 150, and the weight 130 during a connection operation and/or adisconnection operation from the vessel V can be significantly reduced.

In some embodiments, each buoyancy module 890 can be configured as asoft, flexible bladder, a series of soft, flexible bladders or as arigid fabricated structure that can be pressure balanced with theseawater pressure at the exterior of the buoyancy module. In someembodiments, the buoyancy module 890 can be open to the sea at aposition that is toward the bottom of the buoyancy module 890. Thebuoyancy module 890 can normally be filled with water such that theweight of the mooring system is a maximum and can be filled with aliquid, a gas, or a combination of a liquid and a gas prior to thedisconnection or reconnection of the vessel V from the mooring system800 such that the weight of the mooring system 800 can be reduced. Inthis way, the dimensions, size, capacity of the lifting device(s) andthe corresponding lifting lines can be reduced.

In some embodiments, the buoyancy module 890 can be in fluidcommunication with a compressor or pump 880. In some embodiments, thecompressor or pump can be a compressed gas source. In some embodiments,the compressor or pump can be a pump configured to convey a liquid. Thecompressor or pump 880 can be disposed on the vessel V or an auxiliaryor second vessel, not shown. In some embodiments, the compressor or pump880 can be a compressor or a bank of compressed gas cylinders. Thecompressed gas can be air, nitrogen, natural gas, exhaust gas, or anyother gas. The compressor or pump 880 can be in fluid communication withthe buoyancy module 890 via a conduit 881. The conduit 881 can be astand-alone flexible pipe, hose, or other similar type of conduit. Theconduit 881 can also be disposed within a control umbilical, not shownthat can run from the vessel V to the turntable 140 and through theswivel 420. In other embodiments, the compressor or pump 880 can be apump configured to convey a liquid into the internal volume of thebuoyancy module 890. The liquid can have a density that can be less thanthe water the mooring system 800 is disposed in. In some embodiments,the liquid can be a light hydrocarbon liquid. In still otherembodiments, the buoyancy module 890 can be in fluid communication witha compressed gas source and a liquid source.

In some embodiments, the amount of gas disposed inside of the buoyancymodule 890 can be selected such that the yoke 120 and the weight 130 arestable if/when resting on the seabed S during a severe weather periodafter the vessel V has been disconnected. In some embodiments, theamount of gas disposed inside of the buoyancy tank can be reduced afterthe weight 130 and/or yoke 120 are set on the seabed S therebyincreasing the weight of the weight 130 and yoke 120 after disconnectionin order to provide additional stability. In some embodiments a gas canbe introduced into the buoyancy module 890 prior to reconnecting thevessel to the mooring system 800. In some embodiments, the gas can bedisposed into the buoyancy module 890 one time prior to a severe weatherseason and the gas can be expelled from the buoyancy module 890 upon thepassing or completion of the severe weather season, e.g., prior to ahurricane or typhoon season and after a hurricane or typhoon season.

In some embodiments, the mooring system 800 can include a landingstructure, not shown, that can be disposed on the seabed S beneath atleast a portion of the yoke 120 and/or weight 130 such that when themooring system 800 is disconnected, it can be set on the landingstructure. The landing structure can be incorporated into any of theembodiments described herein. The landing structure can be configured asa steel frame, or steel or concrete mattresses, a gravel pile, rocksplaced on the seabed, or other similar material. The landing structurecan provide a hard surface for the yoke 120 and/or weight 130 and/orbuoyancy module 890 to land on such that the yoke 120, the weight 130,and/or the buoyancy module 890 does not get stuck or adhere to theseabed S which is possible as some seabeds can often have a soft, muddyconsistency.

In some embodiments, the weight 130 and/or yoke 120 can include ajetting system incorporated therewith. The jetting system can beconfigured to eject a gas, a liquid, or a mixture thereof into theseabed to facilitate raising the weight therefrom should the weightbecome stuck in the seabed while disconnected from the vessel. Thejetting system can include one or more jets or nozzles that can besupplied a gas and/or liquid via one or more compressed gas cylinders,pumps, or the like.

FIG. 9 depicts an isometric view of an illustrative mooring system 900having at least one conduit 990, three are shown, disposed on themooring system 900, according to one or more embodiments. In someembodiments, the conduit 990 can include a rigid pipe 991 disposed onthe base structure 110 and a rigid pipe 992 disposed on the link arm 150and can include a flexible pipe or hose 995 spanning from the rigid pipe991 disposed on the base structure 110 to the rigid pipe 992 disposed onthe link arm 150 and a flexible pipe or hose 994 between the rigid pipe992 disposed on the link arm 150 and a rigid pipe, not visible, disposedon the fixed part 141 of the turntable 140. In some embodiments, therigid pipe 991 disposed on the base structure 110 can be in fluidcommunication with pipelines 999 disposed on the seabed S. The flexiblepipe or hose 995 spanning from the rigid pipe 991 disposed on the basestructure 110 can be configured to have sufficient slack and/orcompliance to maintain fluid communication between the rigid pipe 991 onthe base structure 110 and the rigid pipe 992 on the link arm 150, asthe link arm 150 and the yoke 120 pivot relative to one another and/oras the yoke 120 pivots relative to the base structure 110.

In some embodiments, the flexible pipe or hose 995 can include one ormore buoyancy modules 996 and/or one or more weight modules 997distributed along the length of the flexible pipe or hose 995 toconfigure the flexible pipe or hose 995 to float at a neutral positionand in compliant shape such as a lazy wave, steep wave, an inversecatenary shape, or any other suitable compliant shape below the surfaceof the body of water. The flexible pipe or hose 994 can be configured toprovide fluid communication between the rigid pipe 992 on the link arm150 and the rigid pipe (not visible) disposed on the fixed part 141 ofthe swivel 420 of the turntable 140. In some embodiments, the flexiblepipe or hose 994 can be configured with valves and/or quickconnect/disconnect fittings so as to facilitate rapid disconnection ofthe flexible pipe or hose 994 and the rigid pipe 992 on the link arm150. The flexible pipe or hose 994 can be configured to have sufficientslack and/or compliance to maintain fluid communication between therigid pipe 992 on the link arm 150 and the rigid pipe or swivel 121 onthe fixed part 141 of the turntable 140, as the link arm 150 pivotsrelative to the fixed part 141 of the turntable 140.

FIG. 10A depicts an isometric view of an illustrative mooring system1000 in a disconnected configuration with the yoke 120 and weight 130laid down on the seabed S and the link arm 150 laid down and supportedin a cradle 1010 disposed on the yoke 120, according to one or moreembodiments. FIG. 10B depicts a partial cross-sectional view of themooring system 1000 depicted in FIG. 10A. For clarity, the weight 130and the dual axis joints 153 have been omitted. In some embodiments, thecradle 1010 can be a fabricated steel structure that is disposed on orintegral to the yoke 120. The cradle 1010 can include a convex or otherrecessed shape that can be complementary to and can interface with theexterior shape and/or contour of the link arm 150. In some embodiments,the cradle 1010 can include a strap (not shown) or other tie-downmechanism to secure the link arm 150 to the cradle 1010. In this manner,the link arm 150 can be secured to the cradle 1010 such that it does notbecome dislodged during a passing storm, for example a hurricane. Insome embodiments, the strap can be diver operated. In other embodiments,the strap can be operable by a remotely operated vehicle (ROV). In stillother embodiments, it can be sufficient that the weight of the link arm150 can keep the link arm 150 securely within the cradle 1010 during thepassing storm.

FIGS. 11-16 depict an illustrative process for mooring the vessel Vfloating on the surface of a body of water W to an illustrative mooringsystem 1100, according to one or more embodiments. In some embodimentsthe process can include positioning the vessel V near the mooring system1100 that can be disposed on or connected to a seabed S or optionallanding structure. The vessel V can retrieve a retrieval line and/orlifting line 1101 and haul in the retrieval line and/or lifting line1101 with a lifting device 1102 disposed on the vessel V. In someembodiments, one or more buoyant elements 1111 can be connected to theend of the retrieval line and/or lifting line 1101 such that the end ofthe retrieval line and/or lifting line 1101 can be maintained at thesurface of the body of water W when the vessel V is disconnected fromthe mooring system 1100.

As the lifting device 1102 hauls in the retrieval and/or lifting line1101, the vessel V can move toward the mooring system 1100. In someembodiments, the link arm 1150 can be lifted off of the seabed S oroptional landing structure prior to the yoke 1120 and the weight 1130being lifted off of the seabed S. In some embodiments, the vessel V canapply a thrust in a direction away from the mooring system 1100 to avoidor minimize peak loading or dynamic loading on the retrieval and/orlifting line 1101 that can result from lifting the yoke 1120 and weight1130 off the seabed S or optional landing structure. The vessel V cancontinue to haul in the retrieval line and/or lifting line 1101 with thelifting device 1102 until a second component 1104 of a releasableconnector 1103 (see FIG. 16 ) is located adjacent to a first component1105 of the releasable connector 1103 that can be disposed on the vesselV. The first component 1105 of the releasable connector 1103 can beconnected to the second component 1104 of the releasable connector 1103to secure the vessel V to the mooring system 1100.

In some embodiments, prior to lifting the link arm 1150, the weight1130, and the yoke 1120 off of the seabed S or optional landingstructure, one or more buoyancy modules, e.g., the buoyancy module 890shown in FIG. 8 , can be disposed on or otherwise connected to theweight 1130 and/or yoke 1120 and can be filled with a fluid to apply abuoyant force to the yoke 1120 and/or the weight 1130. In someembodiments, a fluid can be introduced into the buoyancy module 890 byconnecting the buoyancy module 890 to a compressed gas source, e.g., thegas compressor 880 shown in FIG. 8 . In some embodiments, the buoyancymodule 890 can be a rigid structure and the gas can displace a liquiddisposed inside of the buoyancy module 890 into the body of water. Inother embodiments, the buoyancy module 890 can be a flexible bladder,not shown and the gas can fill the buoyancy module.

In some embodiments, when the weight 1130 includes ballast that can beintroduced into the body of water, e.g., water or seawater, the weightcan be emptied of its ballast to reduce the weight of the yoke 1120 andthe weight 1130 and, once the second component 1104 of the releasableconnector is connected to the first component 1103 of the releasableconnector, ballast, e.g., water or seawater, can be reintroduced intothe weight 1130.

In some embodiments, the link arm 1150, rather than laying or resting onthe seabed S, can be laid or resting in a cradle, e.g., the cradle 1010shown in FIG. 10 , that can be disposed on the yoke 1120 while the yoke1120 and/or the weight 1130 can be laying or resting on the seabed S.

FIGS. 17-22 depict an illustrative process for unmooring a vessel Vfloating on a surface of a body of water W from a mooring system 1700,according to one or more embodiments. The vessel V can be moored to themooring system 1700 via a releasable connector 1703. A first component1704 of the releasable connector 1703 can be released or disconnectedfrom a second component 1705 of the releasable connector 1703. Theweight 1730 and the yoke 1720 can be lowered to and placed on the seabedS or an optional landing structure with a lifting line 1701 and alifting device 1702. In some embodiments, the lifting line 1701 can befurther lowered using a retrieval line 1706 with the lifting device 1702such that the link arm 1750 can be laid on the seabed S. In someembodiments, the yoke 1720, the weight 1730, and the link arm 1750 canbe lowered to and placed on the seabed S or optional landing structurewith the lifting line 1701 and/or the retrieval line 1706 and thelifting device 1702. The lifting line 1701 and/or retrieval line 1706can then be disconnected from the lifting device 1702 and the vessel Vcan then be free from the mooring system 1700. The vessel V is then freeto maneuver away from the mooring system 1700. In some embodiments, oneor more buoyant elements 1711 can be connected to the end of theretrieval line 1706 such that the end of the retrieval line 1706 can bemaintained at the surface of the body of water W when the vessel V isdisconnected from the mooring system 1100.

In some embodiments, the process can include the step of applying atension to the lifting line 1701 with the lifting device 1702 disposedon the vessel V to remove at least a portion of a tension load from thereleasable connector 1703. In some embodiments, the tension applied canbe between 0.1 kilonewtons (kN), 1 kN, 2 kN, 5 kN, 10 kN, 15 kN, 20 kN,or 25 kN to 50 kN, 70 kN, 90 kN, or 100 kN.

In some embodiments, the process can include laying or setting the linkarm 1750 into a cradle (for example 1010 shown in FIGS. 10A and 10B)that can be disposed on the yoke 1720 while the yoke 1720 and the weight1730 can be set on the seabed S.

FIGS. 23-25 depict an illustrative mooring system 2300 in a disconnectedconfiguration with the yoke 120 and weight 130 resting on the seabed Sand the link arm 150 laid down and supported by a contact frame 2310,according to one or more embodiments. The contact frame 2310 can includea first part 2311 disposed on the yoke 120 and/or the weight 130 and asecond part 2312 disposed on the link arm 150. The first part 2311 ofthe contact frame 2310 and the second part 2312 of the contact frame2310 can be fabricated structures, e.g., a steel structure. In someembodiments, the first part 2311 of the contact frame 2310 can befixedly attached to the weight 130 and/or the yoke 120, e.g., by boltingor welding. In other embodiments, the first part 2311 of the contactframe 2310 can be integral with the weight 130 and/or the yoke 120. Insome embodiments, the contact frame 2310 can be configured with at leastone cushion, not shown, disposed between the first part 2311 and secondpart 2312 of the contact frame 2310 to minimize shock loading on thecontact frame 2310. In some embodiments the second part 2312 of thecontact frame 2310 can be fixedly attached to the link arm 150, e.g., bybolting or welding. In other embodiments the second part 2312 of thecontact frame 2310 can be integral with the link arm. In someembodiments, the first part 2311 of the contact frame 2310 and thesecond part 2312 of the contract frame 2310 can be configured,positioned, and/or arranged such that the first part 2311 of the contactframe 2310 contacts and rests on or abuts against, the second part 2311of the contact frame 2310 such that the link arm can be supported suchthat the link arm 150 does not contact the seabed S (as shown in FIG. 23) or the yoke 120 (as shown inn FIG. 25 ). The contact frame 2310 can beconfigured such that the link arm 150 can be positioned in any number oforientations relative to the weight 1130 and the yoke 120 to provideflexibility as to where the link arm 150 is positioned when the yoke 120and weight 130 are resting or laid down on the seabed S.

FIG. 26 depicts an isometric view of an illustrative mooring system 2600that includes at least one conduit 990, three are shown, disposed on themooring system 2600, according to one or more embodiments. The mooringsystem 2600 can be similar to the mooring system 900 shown in FIG. 9 ,with the main difference being the conduit(s) 990 can have a differentconfiguration. In some embodiments, the conduit(s) 990 can include arigid pipe 991 disposed on the base structure 110 and a rigid pipe, notvisible, disposed on the fixed part 141 of the turntable 140. Theconduit 990 can also include a flexible pipe or hose 995 that can spanfrom the rigid pipe 991 disposed on the base structure 110 to the rigidpipe, not visible, disposed on the fixed part of the turntable 140. Therigid pipe 991 disposed on the base structure 110 can be in fluidcommunication with pipelines 999 disposed on the seabed S. The flexiblepipe or hose 995 spanning from the rigid pipe 991 disposed on the basestructure 110 can be configured to have sufficient slack and/orcompliance to maintain fluid communication between the rigid pipe 991 onthe base structure 110 and the rigid pipe, not visible, disposed on thefixed part 141 of the turntable 140, as the link arm 150 and the yoke120 pivot relative to one another and/or as the yoke 120 pivots relativeto the base structure 110.

In some embodiments, the flexible pipe or hose 995 can include one ormore buoyancy modules 996 and/or one or more weight modules 997distributed along the length of the flexible pipe or hose 995 toconfigure the flexible pipe or hose 995 to float at a neutral positionand in a compliant shape below the surface of the body of water. In someembodiments, the rigid pipe, not visible, can be configured with valvesand/or quick connect/disconnect fittings so as to facilitate rapiddisconnection of the flexible pipe or hose 995 from the rigid pipe.

The present disclosure further relates to any one or more of thefollowing numbered embodiments:

1. A mooring system for mooring a vessel floating on a surface of a bodyof water, comprising: a base structure configured to be secured to aseabed; a yoke comprising a first end and a second end, wherein thefirst end of the yoke is configured to be connected to the basestructure such that the yoke is pivotable about an axis of the basestructure; a weight connected to the yoke; a turntable comprising arotating part and a fixed part, wherein the rotating part is configuredto be disposed on the vessel; and a link arm comprising a first end anda second end, wherein the first end of the link arm is configured to beconnected to the second end of the yoke, the weight, or both the secondend of the yoke and the weight, and wherein the second end of the linkarm is configured to be connected to the fixed part of the turntablesuch that the vessel is rotatable with respect to the link arm about acentral axis of the turntable.

2. The mooring system of paragraph 1, wherein the yoke and weight areconfigured to be disposed below the surface of the body of water.

3. The mooring system of paragraph 1 or 2, wherein the axis of the basestructure is substantially orthogonal to a longitudinal axis of theyoke.

4. The mooring system of any one of paragraphs 1 to 3, wherein the firstend of the yoke is configured to be connected to the base structure suchthat the yoke does not pivot about a vertical axis of the basestructure.

5. The mooring system of any one of paragraphs 1 to 4, wherein the firstend of the yoke is configured to be connected to the base structure suchthat the yoke does not pivot about a longitudinal axis of the yoke thatis perpendicular to the axis of the base structure.

6. The mooring system of any one of paragraphs 1 to 5, wherein theweight is disposed toward the second end of the yoke.

7. The mooring system of any one of paragraphs 1 to 6, wherein the firstend of the link arm and the second end of the yoke, the weight, or boththe second end of the yoke and the weight are configured to be connectedvia a dual axis joint.

8. The mooring system of any one of paragraphs 1 to 7, wherein the firstend of the link arm and the second end of the yoke, the weight, or boththe second end of the yoke and the weight are configured to be connectedvia a dual axis joint such that the link arm is configured to pivotrelative to the second end of the yoke about two axes that aresubstantially orthogonal to one another.

9. The mooring system of any one of paragraphs 1 to 8, wherein thesecond end of the link arm and the fixed part of the turntable areconfigured to be connected via a dual axis joint.

10. The mooring system of any one of paragraphs 1 to 9, wherein thesecond end of the link arm and the fixed part of the turntable areconfigured to be connected via a dual axis joint such that the link armis configured to pivot relative to the fixed part of the turntable abouttwo axes that are substantially orthogonal to one another.

11. The mooring system of any one of paragraphs 1 to 10, furthercomprising a swivel comprising a fixed part connected to the fixed partof the turntable and a rotatable part connected to the rotatable part ofthe turntable, wherein the swivel is configured to maintaincommunication between a first conduit disposed on the fixed part of theturntable and a second conduit disposed on the rotating part of theturntable as the vessel rotates about the central axis of the turntable.

12. The mooring system of paragraph 11, wherein the swivel is a fluidswivel, the first conduit is a first fluid conduit in communication witha pipeline disposed on the seabed, and the second conduit is a secondfluid conduit.

13. The mooring system of paragraph 12, wherein the first fluid conduitcomprises a rigid conduit disposed on the fixed part of the turntable, aflexible conduit, and a rigid conduit disposed on the base structure,wherein the flexible conduit is configured to maintain fluidcommunication between the rigid conduit disposed on the fixed part ofthe turntable and the rigid conduit disposed on the base structure asthe link arm pivots relative to the yoke and/or as the yoke pivotsrelative to the base structure.

14. The mooring system of any one of paragraphs 1 to 13, furthercomprising: a releasable connector comprising a first componentconnected to the fixed part of the turntable and a second componentconnected to the second end of the link arm; a lifting device configuredto be disposed on the vessel, the lifting device configured to lift andlower the link arm, the weight, and the yoke; and a lifting line,wherein a first end of the lifting line is configured to be connected tothe second component of the connector and a second end of the liftingline is configured to be connected to the lifting device.

15. The mooring system of paragraphs 14, wherein the yoke and the weightare configured to be laid on the seabed when the link arm isdisconnected from the turntable.

16. The mooring system of paragraph 14 or paragraph 15, wherein thesystem further comprises a cradle or a contact frame configured tosupport the link arm when the link arm is disconnected from theturntable.

17. The mooring system of any one of paragraphs 14 to 16, wherein thelifting device comprises a chain jack, a strand jack, a linear winch, arotary winch, or a combination thereof.

18. The mooring system of any one of paragraphs 14 to 17, wherein thelifting device is electrically driven, hydraulically driven,pneumatically driven, driven via an internal combustion engine, or acombination thereof.

19. The mooring system of any one of paragraphs 1 to 18, furthercomprising a buoyancy module disposed on the yoke, the weight, or boththe yoke and the weight and a transfer conduit configured to convey agas, a liquid, or a combination thereof into and out of an internalvolume of the buoyancy module.

20. The mooring system of paragraph 19, further comprising a compressoror a pump configured to be in fluid communication with the transferconduit.

21. The mooring system of paragraph 19 or paragraph 20, wherein theinternal volume of the buoyancy module is in fluid communication withthe body of water such that the internal volume of the buoyancy modulecomprises a portion of the body of water, and wherein, when the gasand/or liquid is conveyed into the internal volume of the buoyancymodule, at least a portion of the water in the buoyancy module isdisplaced into the body of water.

22. The mooring system of any one of paragraphs 1 to 21, wherein theweight comprises a ballast tank configured to contain a ballastmaterial.

23. A process for mooring a vessel floating on a surface of a body waterto a mooring system, comprising: positioning the vessel near the mooringsystem, wherein the mooring system comprises: a base structure securedto a seabed; a yoke comprising a first end and a second end, wherein thefirst end of the yoke is connected to the base structure such that theyoke is pivotable about an axis of the base structure; a weightconnected to the yoke; a turntable comprising a rotating part and afixed part, wherein the rotating part is disposed on the vessel; a linkarm comprising a first end and a second end, wherein the first end ofthe link arm is connected to the second end of the yoke, the weight, orboth the second end of the yoke and the weight, a releasable connectorcomprising a first component connected to the fixed part of theturntable and a second component connected to the second end of the linkarm; a lifting device disposed on the vessel; and a lifting line havinga first end connected to the second component of the connector;connecting a second end of the lifting line to the lifting device;hauling in the lifting line with the lifting device to lift the linkarm, the yoke, and the weight to move the second component of thereleasable connector into an engagement position with respect to thefirst component of the releasable connector; and connecting the firstcomponent of the releasable connector to the second component of thereleasable connector to secure the vessel to the mooring system.

24. The process of paragraph 23, wherein the mooring system furthercomprises a buoyancy module, the process further comprising at leastpartially filling an internal volume of the buoyancy module with a gas.

25. The process of paragraph 23, wherein the mooring system furthercomprises a buoyancy module, the process further comprising at leastpartially filling the buoyancy module with a liquid.

26. A process for unmooring a vessel floating on a surface of a body ofwater from a mooring system, comprising: disconnecting a first componentfrom a second component of a releasable connector, wherein the mooringsystem comprises: a base structure secured to a seabed, a yokecomprising a first end and a second end, wherein the first end of theyoke is connected to the base structure such that the yoke is pivotableabout an axis of the base structure, a weight connected to the yoke, aturntable comprising a rotating part and a fixed part, wherein therotating part is disposed on the vessel, a link arm comprising a firstend and a second end, wherein the first end of the link arm is connectedto the second end of the yoke, the weight, or both the second end of theyoke and the weight, the first component of the releasable connector isconnected to the fixed part of the turntable and the second component ofthe releasable connector is connected to the second end of the link arm;a lifting device disposed on the vessel; and a lifting line having afirst end connected to the second component of the connector and asecond end connected to the lifting device; lowering the link arm, theyoke, and the weight toward the seabed with the lifting line and thelifting device; disconnecting the second end of the lifting line fromthe lifting device; and maneuvering the vessel away from the mooringsystem.

27. The process of paragraph 26, further comprising applying a tensionto the lifting line with the lifting device to remove at least a portionof a tension load from the releasable connector prior to disconnectingthe first component from the second component of the releasableconnector.

28. The process of paragraph 26 or paragraph 27, wherein the mooringsystem further comprises a buoyancy module, the process furthercomprising at least partially filling an internal volume of the buoyancymodule with a gas.

29. The process of paragraph 26 or paragraph 27, wherein the mooringsystem further comprises a buoyancy module, the process furthercomprising removing a gas from an internal volume of the buoyancymodule.

30. The process of paragraph 29, further comprising filling the internalvolume of the buoyancy module with a gas.

31. The process of any one of paragraphs 26 to 30, wherein the tensionapplied to the lifting line with the lifting device is up to 2 kN.

32. The process of any one of paragraphs 26 to 30, wherein the tensionapplied to the lifting line with the lifting device is greater than 2 kNto 100 kN.

Certain embodiments and features have been described using a set ofnumerical upper limits and a set of numerical lower limits. It should beappreciated that ranges including the combination of any two values,e.g., the combination of any lower value with any upper value, thecombination of any two lower values, and/or the combination of any twoupper values are contemplated unless otherwise indicated. Certain lowerlimits, upper limits and ranges appear in one or more claims below. Allnumerical values are “about” or “approximately” the indicated value, andtake into account experimental error and variations that would beexpected by a person having ordinary skill in the art.

Various terms have been defined above. To the extent a term used in aclaim can be not defined above, it should be given the broadestdefinition persons in the pertinent art have given that term asreflected in at least one printed publication or issued patent.Furthermore, all patents, test procedures, and other documents cited inthis application are fully incorporated by reference to the extent suchdisclosure can be not inconsistent with this application and for alljurisdictions in which such incorporation can be permitted.

While certain preferred embodiments of the present invention have beenillustrated and described in detail above, it can be apparent thatmodifications and adaptations thereof will occur to those havingordinary skill in the art. It should be, therefore, expressly understoodthat such modifications and adaptations may be devised without departingfrom the basic scope thereof, and the scope thereof can be determined bythe claims that follow.

What is claimed is:
 1. A mooring system for mooring a vessel floating ona surface of a body of water, comprising: a base structure configured tobe secured to a seabed; a yoke comprising a first end and a second end,wherein the first end of the yoke is configured to be connected to thebase structure such that the yoke is pivotable about an axis of the basestructure; a weight connected to the yoke, a turntable comprising arotating part and a fixed part, wherein the rotating part is configuredto be disposed on the vessel; and a link arm comprising a first end anda second end, wherein the first end of the link arm is configured to beconnected to the second end of the yoke, the weight, or both the secondend of the yoke and the weight, and wherein the second end of the linkarm is configured to be connected to the fixed part of the turntablesuch that the vessel is rotatable with respect to the link arm about acentral axis of the turntable.
 2. The mooring system of claim 1, whereinthe weight comprises a ballast tank configured to contain a ballastmaterial.
 3. The mooring system of claim 1, wherein the yoke and weightare configured to be disposed below the surface of the body of water. 4.The mooring system of claim 1, wherein the axis of the base structure issubstantially orthogonal or substantially perpendicular to alongitudinal axis of the yoke and substantially parallel with thesurface of the body of water.
 5. The mooring system of claim 1, whereinthe first end of the yoke is configured to be connected to the basestructure such that the yoke does not pivot about a vertical axis of thebase structure and does not pivot about a longitudinal axis of the yokethat is perpendicular to the axis of the base structure.
 6. The mooringsystem of claim 1, wherein the weight is disposed toward the second endof the yoke.
 7. The mooring system of claim 1, wherein: (i) the firstend of the link arm and the second end of the yoke, the weight, or boththe second end of the yoke and the weight are configured to be connectedvia a dual axis joint such that the link arm is configured to pivotrelative to the second end of the yoke about two axes that aresubstantially orthogonal or substantially perpendicular to one another,or (ii) the second end of the link arm and the fixed part of theturntable are configured to be connected via a dual axis joint such thatthe link arm is configured to pivot relative to the fixed part of theturntable about two axes that are substantially orthogonal to oneanother.
 8. The mooring system of claim 1, wherein the first end of thelink arm and the second end of the yoke, the weight, or both the secondend of the yoke and the weight are configured to be connected via a dualaxis joint and the second end of the link arm and the fixed part of theturntable are configured to be connected via a dual axis joint such thatthe link arm is configured to pivot relative to the second end of theyoke about two axes that are substantially orthogonal to one another andconfigured to pivot relative to the fixed part of the turntable abouttwo axes that are substantially orthogonal to one another.
 9. Themooring system of claim 1, further comprising a swivel comprising afixed part connected to the fixed part of the turntable and a rotatablepart connected to the rotatable part of the turntable, wherein theswivel is configured to maintain communication between a first conduitdisposed on the fixed part of the turntable and a second conduitdisposed on the rotating part of the turntable as the vessel rotatesabout the central axis of the turntable.
 10. The system of claim 9,wherein the swivel is a fluid swivel, the first conduit is a first fluidconduit in communication with a pipeline disposed on the seabed, and thesecond conduit is a second fluid conduit.
 11. The system of claim 10,wherein the first fluid conduit comprises a rigid conduit disposed onthe fixed part of the turntable, a flexible conduit, and a rigid conduitdisposed on the base structure, and wherein the flexible conduit isconfigured to maintain fluid communication between the rigid conduitdisposed on the fixed part of the turntable and the rigid conduitdisposed on the base structure as the link arm pivots relative to theyoke and/or as the yoke pivots relative to the base structure.
 12. Themooring system of claim 1, further comprising: a releasable connectorcomprising a first component connected to the fixed part of theturntable and a second component connected to the second end of the linkarm; a lifting device configured to be disposed on the vessel, thelifting device configured to lift and lower the link arm, the weight,and the yoke; and a lifting line, wherein a first end of the liftingline is configured to be connected to the second component of theconnector and a second end of the lifting line is configured to beconnected to the lifting device.
 13. The mooring system of claim 12,wherein the yoke and the weight are configured to be laid on the seabedwhen the link arm is disconnected from the turntable.
 14. The mooringsystem of claim 12, wherein the system further comprises a cradle or acontact frame configured to support the link arm when the link arm isdisconnected from the turntable.
 15. The mooring system of claim 12,wherein the lifting device comprises a chain jack, a strand jack, alinear winch, a rotary winch, or a combination thereof.
 16. The mooringsystem of claim 12, further comprising a buoyancy module disposed on theyoke, the weight, or both the yoke and the weight and a transfer conduitconfigured to convey a gas, a liquid, or a combination thereof into andout of an internal volume of the buoyancy module, wherein the transferconduit is configured to be in fluid communication with a gas compressoror a pump.
 17. The mooring system of claim 12, further comprising abuoyancy module disposed on the yoke, the weight, or both the yoke andthe weight and a transfer conduit configured to convey a gas into andout of an internal volume of the buoyancy module, wherein the transferconduit is configured to be in fluid communication with a compressed gassource, wherein the internal volume of the buoyancy module is in fluidcommunication with the body of water such that the internal volume ofthe buoyancy module comprises a portion of the body of water, andwherein, when the gas is conveyed into the internal volume of thebuoyancy module, at least a portion of the water in the buoyancy moduleis displaced into the body of water.
 18. The mooring system of claim 1,wherein: the first end of the yoke is configured to be connected to thebase structure such that the yoke does not pivot about a vertical axisof the base structure and does not pivot about a longitudinal axis ofthe yoke that is perpendicular to the axis of the base structure, theyoke and weight are configured to be disposed below the surface of thebody of water, the first end of the link arm and the second end of theyoke, the weight, or both the second end of the yoke and the weight areconfigured to be connected via a dual axis joint and the second end ofthe link arm and the fixed part of the turntable are configured to beconnected via a dual axis joint such that the link arm is configured topivot relative to the second end of the yoke about two axes that aresubstantially orthogonal to one another and configured to pivot relativeto the fixed part of the turntable about two axes that are substantiallyorthogonal to one another, and the weight comprises a ballast tankconfigured to contain a ballast material.
 19. A process for mooring avessel floating on a surface of a body water to a mooring system,comprising: positioning the vessel near the mooring system, wherein themooring system comprises: a base structure secured to a seabed; a yokecomprising a first end and a second end, wherein the first end of theyoke is connected to the base structure such that the yoke is pivotableabout an axis of the base structure; a weight connected to the yoke; aturntable comprising a rotating part and a fixed part, wherein therotating part is disposed on the vessel; a link arm comprising a firstend and a second end, wherein the first end of the link arm is connectedto the second end of the yoke, the weight, or both the second end of theyoke and the weight, a releasable connector comprising a first componentconnected to the fixed part of the turntable and a second componentconnected to the second end of the link arm; a lifting device disposedon the vessel; and a lifting line having a first end connected to thesecond component of the connector; connecting a second end of thelifting line to the lifting device; hauling in the lifting line with thelifting device to lift the link arm, the yoke, and the weight to movethe second component of the releasable connector into an engagementposition with respect to the first component of the releasableconnector; and connecting the first component of the releasableconnector to the second component of the releasable connector to securethe vessel to the mooring system.
 20. A process for unmooring a vesselfloating on a surface of a body of water from a mooring system,comprising: disconnecting a first component from a second component of areleasable connector, wherein the mooring system comprises: a basestructure secured to a seabed, a yoke comprising a first end and asecond end, wherein the first end of the yoke is connected to the basestructure such that the yoke is pivotable about an axis of the basestructure, a weight connected to the yoke, a turntable comprising arotating part and a fixed part, wherein the rotating part is disposed onthe vessel, a link arm comprising a first end and a second end, whereinthe first end of the link arm is connected to the second end of theyoke, the weight, or both the second end of the yoke and the weight, thefirst component of the releasable connector is connected to the fixedpart of the turntable and the second component of the releasableconnector is connected to the second end of the link arm; a liftingdevice disposed on the vessel; and a lifting line having a first endconnected to the second component of the connector and a second endconnected to the lifting device; lowering the link arm, the yoke, andthe weight toward the seabed with the lifting line and the liftingdevice; disconnecting the second end of the lifting line from thelifting device; and maneuvering the vessel away from the mooring system.